TY - GEN
T1 - A hierarchical path planning and obstacle avoidance system for an autonomous underwater vehicle
AU - Khorrami, F.
AU - Krishnamurthy, P.
N1 - Copyright:
Copyright 2009 Elsevier B.V., All rights reserved.
PY - 2009
Y1 - 2009
N2 - In this paper, we propose a Maritime Underwater Navigation System (MUNS) for Unmanned Underwater Vehicles (UUVs). The proposed MUNS has a hierarchical architecture comprising of a Wide Area Planner (WAP) and a Local Area Planner (LAP). MUNS is intended to be a plug-and-play module to provide obstacle avoidance and path planning capabilities to existing UUV platforms thereby expanding operational capabilities in cluttered and littoral environments. MUNS is designed to be flexible and to support a variety of tasks including point-to-point moves, object inspection, contour tracking, and region scanning/searching. The performance of MUNS has been validated through extensive simulation studies.
AB - In this paper, we propose a Maritime Underwater Navigation System (MUNS) for Unmanned Underwater Vehicles (UUVs). The proposed MUNS has a hierarchical architecture comprising of a Wide Area Planner (WAP) and a Local Area Planner (LAP). MUNS is intended to be a plug-and-play module to provide obstacle avoidance and path planning capabilities to existing UUV platforms thereby expanding operational capabilities in cluttered and littoral environments. MUNS is designed to be flexible and to support a variety of tasks including point-to-point moves, object inspection, contour tracking, and region scanning/searching. The performance of MUNS has been validated through extensive simulation studies.
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U2 - 10.1109/ACC.2009.5160300
DO - 10.1109/ACC.2009.5160300
M3 - Conference contribution
AN - SCOPUS:70449717803
SN - 9781424445240
T3 - Proceedings of the American Control Conference
SP - 3579
EP - 3584
BT - 2009 American Control Conference, ACC 2009
T2 - 2009 American Control Conference, ACC 2009
Y2 - 10 June 2009 through 12 June 2009
ER -